Milling and deep drilling machine

ABSTRACT

A milling and deep drilling machine operated by a control unit is provided, which commands the action of a robotic arm in a coordinated and automatic manner, being responsible for milling and deep drilling actions, and at least one technical tool storage cabinet. The robotic arm having a mobile structure, with a base structure along which a driving unit is moved, over sliding rails. The configuration of the milling mode in the machine is achieved by coupling a milling tool to the drive unit. For the configuration of the deep drilling mode, the base structure of the robotic arm has coupling device that allow the assembly of a cassette in which the deep hole drilling tool is installed

TECHNICAL DOMAIN

This application describes a milling and deep drilling machine.

BACKGROUND

Currently, it is observed that changing a deep drill bit is a processthat requires human intervention—intervention that interrupts theautomatic working cycle of a machine tool, significantly affecting thetotal machining time.

In fact, in the case of a milling and deep drilling machine, humanintervention can occur in two situations:

-   i. The transition from milling mode to deep drilling mode, or vice    versa, through the loading of a gun drill, hereafter referred to    simply as the drilling tool, or milling tool;-   ii. The changing of the drilling or milling tool.

Situation i., requires the automatic release of the tool and theintervention of the operator leading him to interrupt his work cycle.The operator is responsible for manually assembling all the equipment(tips, dampers, flanges, bezels, tools, cone) necessary for the correctcoupling of the tool to the machine. Situation ii. requires the manualsubstitution, by the operator, of the tool and all of its supportingequipment (tip, dampers, flanges, bezels and cone) due to alterations tothe intended diameter/length of the tool or to the wear thereof, forexample.

SUMMARY

This application describes a milling and deep drilling machinecomprising:

-   -   A robotic arm comprising:        -   a mobile structure adapted to perform linear 3-dimensions            movements inside the machine;        -   a base structure comprising sliding rails and coupling means            of the arm-cassette type;        -   a tree that moves along a base structure across sliding            rails;    -   At least one technical cabinet comprising:        -   at least one milling tool, said milling tool comprising a            cone for coupling to the tree and a mechanism for locking            the rotation of the cone during the act of coupling to the            tree; and/or        -   at least one cassette, said cassette comprising:            -   a drilling tool, comprising a cone for coupling to the                tree and its cone support;            -   a rotation locking mechanism adapted to lock the                rotation of the cone during the act of coupling to the                tree;            -   a mechanical locking mechanism adapted to fix the                position of the cone support;            -   a cassette-arm type means of coupling;    -   a control unit, comprising means of processing, specially        configured to operate the robotic arm and at least one technical        cabinet.

In one particular embodiment of the machine, the storage of at least onemilling tool and at least one cassette in the technical cabinet occursby means of automatic ties. The arm-cassette or cassette-arm couplingmeans may be of the automatic tie type.

In one particular embodiment of the machine, the installation of a deephole drilling tool in the cassette is carried out using bezels, thenumber of which varies depending on the length of said tool. The bezelmay comprise a locking plate, two elastic tabs, adapted to attach thedamper that secures the tool to the cassette.

In one particular embodiment of the machine, the cone support of thedeep drilling tool comprises a bearing to support the tool cone, adetachable flange, a locking pin and a shifting mechanism forpositioning along the base structure of the robotic arm.

In yet another particular embodiment of the machine, the cassetterotation locking mechanism comprises a block, a spring and a stop bolt,where the block moves linearly on a course restricted by the action ofthe spring and the stop bolt.

In one particular embodiment of the machine, the mechanical lockingmechanism comprises an adjustment ruler on which a castle moves which isadjustable to the various dimensions of the tool.

Finally, in one particular embodiment of the machine, the technicalcabinet comprises a protective curtain and an external access window formanual intervention by the operator.

General Description

The present application arises from the need to automate the operationof a milling and deep drilling machine, avoiding intervention by anoperator. For this purpose, a milling and deep drilling machine,hereafter simply referred to as a machine, is proposed, whose operationis commanded by a control unit, which operates the action of a roboticarm in a coordinated manner, which is responsible for the actions ofmilling and deep drilling, and at least one technical tool storagecabinet.

The robotic arm is formed of a mobile structure that ensures its linear,3-dimensional movement inside the machine. The robotic arm comprises abase structure along which a drive unit moves, over sliding rails,hereafter referred to as a tree.

The configuration of the milling mode on the machine is achieved bycoupling the tree to a milling tool, through a cone, for which purposethe tree is on the most external position of the robotic arm. Themilling tools are stored in a technical locker in a location of themachine that the robotic arm can reach. For the configuration of thedeep drilling mode, the base structure of the robotic arm comprisescoupling means—arm-cassette automatic locking fittings—that allow forthe assembly of a deep drilling cassette. The coupling between thecassette and the base structure of the robotic arm is achieved by meansof complementary automatic ties, positioned in both components, forwhich purpose the tree is fully withdrawn into the most internalposition of the base structure.

The cassettes are stored in a technical cabinet, by means of automaticties—technical cabinet-cassette automatic locking fittings—in a locationin the machine that the robotic arm can reach. Each cassette has a deepdrilling tool with particular characteristics of diameter and lengthinstalled on it. The installation of the tool in the cassette isperformed using a bezel, the number of which may vary depending on thelength/diameter ratio of the tool. The operation of loading or removingthe cassette is achieved by the automatic loading thereof on the basestructure of the robotic arm, without interrupting the machining cycle,by the coordinated action of the control unit on the robotic arm and onthe technical cabinet where it is stored.

For the automation of the actions of loading and removing a milling toolor cassette on the base structure of the robotic arm, ensuring thecorrect and uninterrupted operation of the machine, both are equippedwith locking mechanisms. In the case of the milling tool, this comprisesa rotation locking mechanism, with the purpose of ensuring thenon-rotation of the cone of the tool during the act of coupling to thetree.

Regarding the cassette, it is equipped with two complementary lockingmechanisms, which act at the level of the deep drilling tool installedon it and the tree of the robotic arm, to which it will be coupled. Thefirst mechanism is the mechanical locking mechanism, which is designedto ensure the correct positioning and fixing of the cone support of thetool, which enables the tying to the tree. For this purpose, thecassette comprises an adjustment ruler on which the mechanical lockingmechanism is moved and which contains a castle that is adjustable to thedifferent dimensions of the gun drill. Depending on the length of thetool to be installed on the cassette and due to the interaction of thecastle with the mechanical locking mechanism, it is permissible to lockthe cone support of the tool in the appropriate position for subsequentcoupling of the tree. The operation of installing the tool on thecassette, and the respective operationalization of the mechanicallocking mechanism, is performed by the operator a priori of theoperation of the machine. The second locking mechanism relates to therotation lock, and is intended to ensure the non-rotation of the cone ofthe tool during the act of coupling to the tree.

The control unit is responsible for controlling the linear 3-dimensionalmovements of the robotic arm, inside the machine, and the technicalcabinet, specifically the action of its protective curtain. The actionof the control unit, on these two components, occurs at the level ofthe:

-   -   i. Operationalization of deep drilling mode, through the loading        onto the base structure of the robotic arm of a cassette stored        in the technical cabinet;    -   ii. Operationalization of the milling mode by the loading onto        the base structure of the robotic arm of a milling tool stored        in the technical cabinet;    -   iii. Configuration of the milling or deep drilling mode by        replacing the milling tool or cassette coupled to the base        structure of the robotic arm, by changing the milling/drilling        parameters—diameter/length of the tool, respectively;    -   iv. Removal of the milling tool or cassette coupled to the base        structure of the robotic arm, and consequent storage thereof in        the technical cabinet.

For the loading of a milling tool onto the base structure of the roboticarm, as the operation defined in point ii. implies, the control unitoperates on the robotic arm and the technical cabinet, as follows:

-   -   the tree moves to its most external position;    -   the robotic arm moves, through linear movements, to the        technical cabinet, positioning itself next to the milling tool        that it is wished to load, prompting the opening of the        protective curtain;    -   the milling tool is then positioned in relation to the tree;    -   the tree executes the linear movement towards the cone of the        tool, followed by its tying to the tree, which enables the        robotic arm, and by extension the machine, to perform the        milling operation.

For the loading of a cassette onto the base structure of the roboticarm, as the operations defined in points i. and iii. imply, the controlunit operates on the robotic arm and the technical cabinet, as follows:

-   -   the tree moves to its most withdrawn position;    -   then the robotic arm moves, through linear movements, to the        technical cabinet, positioning itself next to the cassette that        it is wished to load, leading to the opening of the protective        curtain;    -   this is followed by the movement of the robotic arm towards the        cassette;    -   the cassette-arm automatic locking fittings are disabled; the        base structure of the robotic arm comes to rest against the        cassette; the cassette-arm automatic locking fittings are        enabled and then the technical cabinet-cassette automatic        locking fittings are disabled;    -   the robotic arm moves away from the technical cabinet and the        closing of the protective curtain occurs;    -   the tree executes a linear movement towards the cone of the        tool, followed by its tying to the tree, which enables the        robotic arm, and by extension the machine, to perform the deep        drilling operation with the tool installed on the cassette.

Additionally, to perform the release of the milling tool or cassette, asdefined in point iv., the control unit operates on the robotic arm andthe technical cabinet, as follows:

Release of the drilling tool:

-   -   the tree performs the function of releasing the drilling tool        installed on the cassette, releasing the cone of the tool,        followed by the linear movement of the tree away from the cone,        to an extreme position on the base structure of the robotic arm;    -   this removal causes the activation of the cone-locking system        work, so that it maintains its position in relation to the        cassette, until a new loading operation is requested;    -   the opening of the protective curtain occurs and the robotic arm        initiates the movement of the cassette towards the technical        cabinet, the technical cabinet-cassette automatic locking        fittings being disabled; the technical cabinet-cassette        automatic locking fittings are enabled; and then the        cassette-arm automatic locking fittings are disabled;    -   the movement of the robotic arm away from the technical cabinet        occurs, enabling the robotic arm and by extension the machine,        to realize the milling operation.

Release of milling tool:

-   -   the tree executes the function of releasing the tool installed        on the cassette, releasing the cone from the milling tool,        followed by the linear movement of the tree away from the cone,        to an extreme position on the base structure of the robotic arm;    -   the movement of the robotic arm towards the technical cabinet of        the milling tools and the opening of the protective curtain        occurs;    -   then the storage of the milling tool in the technical cabinet        and the closure of the curtain occurs.

BRIEF DESCRIPTION OF THE FIGURES

For better understanding of this application, we attach figures thatrepresent preferential achievements but which do not seek to limit thetechnique hereby disclosed.

FIG. 1 illustrates the coupling of a cassette to the base structure ofthe robotic arm, where the numerical reference marks signify:

-   1—robotic arm;-   1.1—base structure;-   1.2—sliding rails;-   2—cassette;-   10—cassette-arm automatic locking fittings;-   15—tree.

FIG. 2 illustrates the robotic arm configured to perform the millingoperation, where the numerical reference marks signify:

-   1—robotic arm;-   1.1—base structure;-   1.2—sliding rails;-   15—tree;-   16—milling tool.

FIG. 3 illustrates an exploded view of a cassette, where the numericalreference marks signify:

-   4—filings box;-   5—tip of the tool;-   6—dampers;-   7—bezel;-   8—cone support;-   9—adjustment ruler and cone support lock;-   10—cassette-arm automatic locking fitting;-   11—technical cabinet-cassette automatic locking fitting;-   12—bezel spacing scissors;-   13—bezel guide and cone support;-   14.1—enabled cone support locking castle;-   14.2—disabled cone support locking castle;-   18—tool.

FIG. 4 illustrates a detailed view of the cone support element, wherethe numerical reference marks signify:

-   8.1—cone;-   8.2—cone support bearing;-   8.3—mobile flange;-   8.4—tool locking pin;-   8.5—glides;-   8.6—mechanical locking mechanism;-   8.7—rotation locking mechanism;-   8.8—fixed flange.

DESCRIPTION OF EMBODIMENTS

Referring to the figures, some embodiments are now described in moredetail, which are not, however, intended to limit the scope of thisapplication.

In one preferential embodiment of the milling and deep drilling machinedeveloped, it comprises on the inside, a robotic arm (1), adapted toperform 3-dimensional linear movements over the entire interior space ofsaid machine, a technical cabinet (3), loaded with multiple cassettes(2), and a control unit configured to command the operations of deepmilling or deep drilling, through coordinated control of the actions ofthe robotic arm (1) and the technical cabinet (3).

The cassette (2) is configured to carry different types of tools (18),with respective diameter and/or length values, and for this purpose,each cassette (2) is comprised of:

-   Filings box (4) containing frontal (4.1) and rear flanges (4.2);-   Tool tip (5);-   Dampers (6);-   Bezels (7);-   Cone support (8);-   Adjustment and locking ruler for the cone support (9);-   Cassette-arm automatic locking fitting (10);-   Technical cabinet-cassette automatic locking fitting (11);-   Bezel spacer scissors (12);-   Bezel guide and cone support (13);-   Enabled cone support locking castle (14.1);-   Disabled cone support locking castle (14.2);-   Tool (18).

The number of bezels (7) that a cassette (2) possesses varies dependingon the length/diameter ratio of the tool (18). Each bezel (7) consistsof a locking plate (7.1) and two elastic tabs (7.2 and 7.3), and itsfunction is to attach the damper that is intended to fix the tool (18)to the cassette (2), and to ensure its stability during the operation.In addition to this, depending on the diameter of the tool (18), thedampers (6) also vary, there being a specific damper for each tooldiameter.

The assembly or disassembly operation of a tool (18) of the cassette (2)is performed by an operator, or at a stage prior to storing the cassette(2) in the technical cabinet (3) or it is previously stored through anaccess door to the cabinet (3). The cone of the tool (8.1) holds thebearing (8.2) that sustains it in the cone support (8), and through theopening of the removable phalanx (8.3) it is possible to insert it orremove it from the support together with the tool (18), and with theloosening of the locking pin (8.4) it is possible to assemble ordisassemble the tool (18). Depending on the length of the tool (18), thecone support (8) is positioned by means of the glides (8.5) on thecassette (2) and fixed by means of the mechanical locking mechanism(8.6), which is positioned on the adjustment ruler (9) through thelocking castle of the enabled cone support (14.1).

The cone support (8) is positioned on the cassette (2) through a lockingmechanism, called the mechanical locking mechanism (8.6) and by means ofthe adjustment ruler (9) which is equipped with removable castles (14.1,14.2). These allow for the assembly of different lengths of tool, makingthe cassette (2) flexible. The cone support locking castle, can assumetwo positions enabling (14.1) and disabling (14.2) the cone support (8)of the tool in the desired position.

The rotation locking mechanism (8.7) has the function of ensuring thelocking of the rotation of the cone of the tool that is coupled to thetree (15). This is composed of a block, a spring and a stop bolt,embedded in a box of the fixed flange (8.8). The block moves linearly ona course restricted by the action of the spring and the stop bolt. Bothin the tying and untying of the cone of the tool (8.1) it is guaranteedthat the tree (15) positions the cone (8.1) in alignment with thelocking mechanism (8.7). The block assumes two positions, a lockedposition and an unlocked position. The locked position is the normalposition by default, guaranteed by the action of the spring, whichexposes the geometry of the block in order to lock the cone (8.1). Theunlocked position is produced by the resting action of the tree (15) atthe time of the tying of the cone (8.1), causing the block to enter thebox of the fixed flange thus unlocking the rotation of the cone (8.1).This action occurs with the pressing of the spring that exerts a lesserforce on the mechanical locking mechanism (8.6) so that the cone support(8) does not move during the tying action.

The cassette (2) is installed in the base structure (1.1) of the roboticarm (1), by means of complementary automatic ties—cassette-arm automaticlocking fitting (10) and technical cabinet-cassette automatic lockingfitting (11).

The cassettes are stored in the technical cabinet (3), by means ofautomatic ties—technical cabinet-cassette automatic locking fittings(11)—being accessible to the robotic arm (1), for later automaticinstallation, without the need to interrupt the machining cycle. In oneparticular embodiment, the technical cabinet (3) comprises a protectivecurtain (17), to keep the cassettes protected from the filings and oil.The technical cabinet (3) comprises a window that gives access to theexterior for manual intervention of the operator that feeds thecassettes (2) stored therein with the tools (18).

The machine is commanded by the action of a control unit, which isresponsible for controlling the integrated operation of the robotic arm(1) and the technical cabinet (3), acting at the level of the drive ofthe automatic locking fittings (10), (11), of the protective curtain(17) of the technical cabinet (3) and at the level of the tree (15), forthe operationalization and configuration of the milling and deepdrilling actions.

This description is not, of course, in any way restricted to theachievements presented in this document and a person with averageknowledge of the area may foresee many possibilities of modifying itwithout deviating from the general idea, as defined in the claims. Thepreferred achievements described above are obviously combinable witheach other. The following claims additionally define preferentialachievements.

1. A milling and deep drilling machine comprising: a robotic armcomprising: a mobile structure adapted to perform linear 3-dimensionalmovements inside the machine; a base structure comprising sliding railsand coupling means of the cassette-arm type; a tree that moves along abase structure over sliding rails; at least one technical cabinetcomprising: at least one milling tool; said milling tool comprising acone for coupling to the tree and a mechanism for locking the rotationof the cone at the time of the coupling to the tree; and/or at least onecassette, said cassette comprising a drilling tool, comprising a conefor coupling to the tree and the respective cone support; a rotationlocking mechanism adapted to lock the rotation of the cone at the timeof the coupling to the tree; a mechanical locking mechanism adapted tofix the position of the cone support; arm-cassette type coupling means;a control unit, comprising means of processing, specially configured tooperate the robotic arm and at least one technical locker.
 2. Themachine according to claim 1, wherein the storage and at least onemilling tool and at least one cassette in the technical cabinet isachieved through automatic ties.
 3. The machine according to claim 1,wherein the arm-cassette or cassette-arm means of coupling are of theautomatic tie type.
 4. The machine according to claim 1, wherein theinstallation of a deep drilling tool in the cassette is performedthrough bezels, whose number varies depending on the length of saidtool.
 5. The machine according to claim 4, wherein the bezel comprises alocking plate, two elastic tabs, adapted to attach the damper thatsecures the tool to the cassette.
 6. The machine according to claim 1,wherein the cone support of the deep drilling tool comprises a bearingto support the cone of the tool, a detachable flange, a locking pin anda displacement mechanism, for positioning along the base structure ofthe robotic arm.
 7. The machine according to claim 1, in which therotation locking mechanism of the cassette comprises a block, a springand a stop bolt, wherein the block moves linearly on a course restrictedby the action of the spring and the stop bolt.
 8. The machine accordingto claim 1, wherein the mechanical locking mechanism comprises anadjustment ruler on which moves a castle that is adjustable to thedifferent dimensions of the tool.
 9. The machine according to claim 1,wherein the technical cabinet comprises a protective curtain and awindow that gives access to the exterior for manual intervention by theoperator.